Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
■
Restrictions
In the following cases, the 2-axis circular interpolation control cannot be set.
• When Degree is set in [Pr.1] Unit setting
• When the units set in [Pr.1] Unit setting are different between the reference axis and interpolation axis (The combination of
mm and inch is possible.)
• When Reference axis speed is set in [Pr.20] Interpolation speed specification method
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
■
Positioning data to be set
To use the 2-axis circular interpolation control with center point specified (INC circular right, INC circular left), set the following
positioning data.
 : Always set,  : Set as required,  : Setting not required
For details on the settings, refer to the following.

Page 420 Positioning Data
Set a value in [Da.8] Command speed so that the speed of each axis does not exceed the value in [Pr.8]
Speed limit value. (The speed limit does not function for the speed calculated by the RD75.)
Error cause Error code
When the radius exceeds 536870912 (= 2
29
) (The maximum radius for which
the circular interpolation control is possible is 536870912 (= 2
29
).)
Outside radius range (Error code: 1A32H) occurs at the start of the
positioning.
When the end point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
End point setting error (Error code: 1A2CH) occurs at the start of the
positioning.
Start point address = Center point address Center point setting error (Error code: 1A2DH)
End point address = Center point address Center point setting error (Error code: 1A2EH)
When the center point address is out of the range of -2147483648 (-2
31
) to
2147483647 (2
31
-1)
Center point setting error (Error code: 1A2FH)
Setting item Setting requirement of
reference axis Setting requirement of
interpolation axis
[Da.1] Operation pattern
 
[Da.2] Control method  (Set ABS circular right or ABS
circular left.)

[Da.3] Acceleration time No.
 
[Da.4] Deceleration time No.
 
[Da.5] Axis to be interpolated
 
[Da.6] Positioning address/movement amount  
[Da.7] Arc address
 
[Da.8] Command speed
 
[Da.9] Dwell time
 
[Da.10] M code  
[Da.27] M code ON signal output timing
 
[Da.28] ABS direction in degrees
 
[Da.29] Interpolation speed specification method
 